WO2017213576A1 - Système et procédé de test de fonctionnalités d'un véhicule - Google Patents

Système et procédé de test de fonctionnalités d'un véhicule Download PDF

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Publication number
WO2017213576A1
WO2017213576A1 PCT/SE2017/050601 SE2017050601W WO2017213576A1 WO 2017213576 A1 WO2017213576 A1 WO 2017213576A1 SE 2017050601 W SE2017050601 W SE 2017050601W WO 2017213576 A1 WO2017213576 A1 WO 2017213576A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
test
sub
server
assessment
Prior art date
Application number
PCT/SE2017/050601
Other languages
English (en)
Inventor
Milivoj PERSSON
Simon FAGERHOLM
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to US16/306,604 priority Critical patent/US20190145861A1/en
Priority to EP17810638.1A priority patent/EP3465132A4/fr
Publication of WO2017213576A1 publication Critical patent/WO2017213576A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
    • G07C5/0825—Indicating performance data, e.g. occurrence of a malfunction using optical means
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

Definitions

  • the present i nvention relates to a system for testi ng functional ities of a distributed embedded system in the form of a vehicle as wel l as a method for carrying out such testing .
  • the invention is directed to such testing of any type of vehicle, but especially wheeled vehicles and in particular heavy wheeled veh icles, such as trucks, which is the reason for directing th is disclosu re mainly to testi ng of such veh icles for ill umi nating the problems to be solved by the invention and how these are solved without for that sake restricti ng the invention to the testing of such veh icles.
  • SI L software-in-the-loop
  • H IL hardware-in-the-loop
  • in-vehicle environment SIL is an environ ment where the whole truck is si mulated, run as a software program , and a world in which the truck drives arou nd in is si mulated as wel l . Th is means that it's only the software that is truly tested and this can be performed directly on a computer such as a laptop.
  • H IL is very sim ilar to SI L, but now real hardware of some of the different modules is tested towards the sim ulated world .
  • the last test environ ment is the one to which the present invention is directed, the in-vehicle testing environment.
  • a completely assembled vehicle would be used as a testi ng vehicle and be driven around a test track or on public roads just like an end-user wou ld. It is evident that this testing environment is the most attractive one, since if it is important to see how the environment and the hardware i nteract with each other then it is more or less necessary to carry out in-vehicle tests. The same goes for safety critical tests, which have to be verified that they actually work in a real vehicle.
  • an automatic in- vehicle testing tool wh ich means that it is a software prog ram that can connect to a truck and automatically perform assess- ments and automatically generate verdicts to the system tests that are performed on vehicles.
  • US 201 0/0079301 A1 discloses a system and a method of testing a machi ne which may be used for testing functional ities of a ve- hide, which however requires that the driver of the vehicle carries out actions according to a predetermined script and provides the test system with inputs asked for, whereupon the test system checks whether a test condition is fu lfilled and may be verified .
  • a plurality of tests may not be run in parallel at the same time as it is necessary to give the driver information about the actions to be taken .
  • the object of the present invention is to provide a system and a method for testing functionalities of a distributed embedded system in the form of a vehicle by driving the vehicle being improved in at least some aspect with respect to such systems and methods already known .
  • the invention is based on utilizing the presence of a mes- sage-based bus network topology to which different sub-systems of the vehicle are connected for publishi ng and reading information relating to the status of these sub-systems, such as a CAN-bus, and establishing a connection thereto to be maintained during the driving of the veh icle for obtaini ng an automatic i n- veh icle testing tool influencing neither the vehicle nor the driver when testing functionalities of the vehicle during drivi ng of the veh icle.
  • the client is subscribing to be updated by the server of a change of said specific vehicle sub-system i nfor- mation and the test script is config ured to initiate said test assessment oracle to make an assessment of said particular fu nction or sub-function of the vehicle upon said update of said specific i nformation subscribed so as to deliver a test result by givi ng a final verdict of said particular function or sub-function of the vehicle.
  • the server will , in turn , update each of its clients when the trucks state changes.
  • the advantages of the i nvention with respect to manual i n-vehicle testing are many. Instead of relying on the drivers' sensation , quantifiable sig nals are the basis for the verdicts resulting i n the possibil ity to have more precise criteria. Furthermore, the drivers do not always perform the test steps as they are intended to be performed, as they i nterpret the natural language in the test specification for each test step. This issue is removed when a test step is made by an executable test script written in a programming language. The pu rely monitoring architecture of the system ac- cording to the i nvention makes injection of faults to the veh icle tested by the testing procedure i mprobable.
  • the system comprises a unit configured to store test results delivered by the test script during driving of the vehicle to be viewed at a later moment. Moreover, the driver has not to exami ne the verdict duri ng driving , although that may be possible, but may wait to do this after having come to a fu ll stop of the vehicle then being in a safe state.
  • the system comprises a member config ured to send test results to a graphical user interface so as to be displayed to the driver of the vehicle. This makes it possible for the driver to see and react upon the test resu lts du ring the driving of the vehicle wou ld that comply with safety requirements existi ng . Otherwise the driver or other persons may use this option after the testing tour of the veh icle has been completed.
  • the system comprises a pl ural ity of said clients in the form of different exe- cutable test scripts each being a separate test step bei ng configured to subscribe different said specific vehicle sub-system information and by carrying out said test assessment oracle thereof together form ing a test case assessing if the vehicle fu nctionality tested conforms to its requirements.
  • the invention enables carryi ng out a plural ity of test steps in parallel and in any suitable order depending upon which specific information is subscribed by the respective test script and when a change thereof occurs causing an updating of the test script i nitiating the test assessment oracle of the test script to make an assessment of the particular function or sub-function of the vehicle associated with that test script.
  • said server is associated with hardware and software for converting electrical signals taken from said bus into digital signals to be sent to said at least one client.
  • the system is a testing tool included i n one single mobile computer, such as a PC.
  • a testing tool included i n one single mobile computer, such as a PC.
  • the software server and its client/cl ients will com municate over the computers' internal communication channels.
  • This allows the tester to bring a single piece of hardware to both run the automated in-vehicle testing tool , but also other test related software, such as logging software, which may be favou rable with respect to simplicity and costs.
  • the object of the invention is with respect to the method obtai ned by providing a method for testing functional ities of a distributed embedded system in the form of a vehicle wh ile driving the vehicle with the steps listed in the appended independent method claim .
  • the properties and advantages of such a method and the embodiments thereof defi ned in the appended dependent method claims appear clearly from the above-discussion of the test system ac- cording to the invention .
  • the invention also relates to a computer program and a computer- readable medium according to the appended claims di rected to a computer prog ram and a computer-readable medium , respec- tively.
  • Fig. 1 illustrates very schematically the architecture of a test system according to an embodiment of the invention in connection with a vehicle the functionalities of which are to be tested,
  • Fig.2 illustrates very schematically the function of a part of the system shown in Fig. 1
  • Fig.3 is a flow chart illustrating the steps carried out in a method according to an embodiment of the invention.
  • Fig. 1 illustrates the architecture of a testing tool for testing functionalities of a distributed embedded system in the form of a ve- hide 1 , here a truck.
  • the truck can be seen as different sub-systems 30-32 each performing their respective function.
  • Such subsystems may be the engine, the transmission, the brakes etcetera of the vehicle.
  • CAN-bus Controller Area Network bus
  • the system comprises a software server 3 configured to be physically connected to the bus 2 and to take said sub-system information therefrom and interpret it as output from a timed automaton.
  • Clients 4-8 each in the form of an executable test script written in a programming language are configured to from the server 3 subscribe specific vehicle sub-system information to be used by a test assessment oracle of the test script for assessi ng a particular function or sub-function of the vehicle.
  • the test scripts are here written in Python code, but other languages are also conceivable.
  • the clients 4-8 may be defined as single test steps assessi ng a particular function or sub-function .
  • a group of these test steps are defined as a test case assessing if the system functionality conforms to its requirements. All the test cases make up the total test suite 9.
  • Each client will con nect and subscribe to the server and when run ning , that is when the test driver drives the veh icle 1 to be tested on public roads or on a test track, the server 3 wil l update each of its clients 4-8 when the trucks state changes. However, only the clients that subscribe to that particular change will be updated, leaving the other clients dormant and thus reducing the CPU load. This is shown in Fig . 1 as a thicker li ne to the ongoing test step of the client 7. When a test step has been given a final verdict it can be detached and will not run its assessment anymore, which here is the case for the test step of the client 8.
  • a specific vehicle sub-system information may be the status of brakes of the vehicle, which may be active (braking) or inactive (not braking) and changes of information relating thereto will be sent from the server 3 to the client or clients subscribing to be updated by the server of such changes.
  • Th is is i llustrated by the box 1 0 with 1 1 standing for braki ng and 1 2 for not braki ng .
  • the system further comprises a unit 1 3 configu red to store test results delivered by the test scripts during driving of the veh icle to be viewed at a later moment as well as a member 1 4 configured to send the test results to a graphical user interface 1 5 so as to be displayed to the driver of the vehicle.
  • testi ng tool may be included in one single mobile computer, such as a PC 1 6 to be con nected to said message-based bus 2 network topology of the veh icle 1 by suitable means, such as a connector.
  • suitable means such as a connector.
  • it wil l now be described how to proceed for carryi ng out a test of a functionality to be present i n the vehicle, which considers the requ irement for the drive l ine system in heavy trucks governed by law and legislation stating that "the maximum permissible speed for heavy trucks is 90 km/h".
  • the testable statement may then be: no torque appl ied if the vehicle is at a speed greater than 90 km/h .
  • test driver selects the applicable test scripts and incl ude these to the tool before launchi ng it.
  • the test driver wil l then physically connect the testing tool to the vehicles CAN-bus 2 and turn on the ign ition to wake up the vehicle's electronic systems.
  • the driver can start the th ird party CAN i nterfaces in order to monitor the traffic on the bus and forward this to the automated in-vehicle testing tool .
  • the test driver launch the automated in-vehicle testi ng tool which wil l set up the different sig nal subscriptions and start executi ng all the test scripts automatically.
  • Fig . 2 showi ng how each test script 4 is composed of two components, a set up component 20 and an update loop component 21 .
  • the server 3 retrieves the test scripts set of monitored signals. This is done in order for the server to know when to update the test script and what sig nals it needs in order to conduct its assessment.
  • the update loop 21 becomes active. This is the test assessment loop or oracle that is i nitiated when the server updates the test scripts with a new vehicle state according to the scripts' subscription .
  • the test script becomes dormant until next update arrives from the server. How this is implemented at the code level may be ill ustrated by the following test script for the test mentioned above
  • the g uard wi ll terminate the script with a "not tested” result if the veh icle speed has never reached 90 km/h duri ng the testi ng pro- cedure. If the guard instead will be satisfied the test script will perform its assessments, evaluating if the truck conforms to the regulations that no torque is appl ied when going faster than 90 km/h . When the assessment is fi nished a result of either "failed” or "not failed” is given . The reason why no "passed” result exists is that a requirement such as this must uphold for every situation and only performi ng it once is not enough to simply give it a "passed” label .
  • the result may be sent to a graphical user interface to be displayed to the test driver.
  • Fig . 3 illustrates a flow chart of a method accordi ng to an embodiment of the present invention .
  • the method is started with a step Si of connecting server to bus (message-based bus network topology, such as a CAN-bus) .
  • bus messages-based bus network topology, such as a CAN-bus
  • step S2 trans- mitti ng vehicle sub-system information to server, whereupon in a step S3 clients are made subscribing specific vehicle sub-system information .
  • Clients are then in a step S 4 updated of changes of said specific vehicle sub-system information .
  • Test assessment oracle is then in itiated i n step S5 followed by delivering test resu lt by g iving a final verdict of vehicle function in a step S 6.
  • i nvention is of cou rse in no way restricted to the embodiments described above, since many possibilities for modifications thereof are likely to be obvious to one skilled in the art without having to deviate from the scope of i nvention defined i n the appended claims.
  • Another message-based bus network topology than CAN may be used, such as Flexray.
  • Flexray Although advantageous, it is not a requirement to have software server, clients, data-storing u nit, graph ical interface and a display u nit i ncluded i n one si ngle device, such as a PC, but these may be separated into two or more devices.
  • the system according to the i nvention may of course also be used to test fu nctionalities of other types of distributed embedded sys- terns than a vehicle.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Debugging And Monitoring (AREA)

Abstract

L'invention concerne un système de test de fonctionnalités d'un véhicule (1) lors de la conduite du véhicule présentant une topologie de réseau de bus reposant sur des messages (2) comprenant un serveur logiciel (3) configuré pour être connecté au bus (2) et recevoir des informations du sous-système du véhicule et interpréter celles-ci en tant que sortie d'un automate temporisé. Le système comprend également au moins un client (4-8) sous la forme d'un script de test exécutable écrit dans un langage de programmation et configuré pour souscrire à partir du serveur des informations de sous-système de véhicule spécifiques devant être utilisées par un oracle d'évaluation de test du script de test pour évaluer une fonction ou une sous-fonction particulière du véhicule.
PCT/SE2017/050601 2016-06-07 2017-06-07 Système et procédé de test de fonctionnalités d'un véhicule WO2017213576A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/306,604 US20190145861A1 (en) 2016-06-07 2017-06-07 A system and a method for testing functionalities of a vehicle
EP17810638.1A EP3465132A4 (fr) 2016-06-07 2017-06-07 Système et procédé de test de fonctionnalités d'un véhicule

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1650789 2016-06-07
SE1650789-9 2016-06-07

Publications (1)

Publication Number Publication Date
WO2017213576A1 true WO2017213576A1 (fr) 2017-12-14

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PCT/SE2017/050601 WO2017213576A1 (fr) 2016-06-07 2017-06-07 Système et procédé de test de fonctionnalités d'un véhicule

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US (1) US20190145861A1 (fr)
EP (1) EP3465132A4 (fr)
WO (1) WO2017213576A1 (fr)

Cited By (2)

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CN111147334A (zh) * 2019-12-31 2020-05-12 北京信而泰科技股份有限公司 一种网络测试仪
WO2024032999A1 (fr) * 2022-08-08 2024-02-15 Bayerische Motoren Werke Aktiengesellschaft Système de sécurité pour un véhicule à moteur, véhicule à moteur et procédé de réalisation d'un contrôle de sécurité sur un véhicule à moteur

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CN113495545A (zh) * 2020-03-18 2021-10-12 纬湃科技投资(中国)有限公司 使用在环硬件测试车辆设备控制器的系统和方法
CN112486141B (zh) * 2020-11-26 2022-09-02 南京信息工程大学 一种基于时间自动机的无人机飞控程序建模与验证方法
CN113032262A (zh) * 2021-03-23 2021-06-25 重庆智行者信息科技有限公司 一种自动化仿真测试方法
CN113098747A (zh) * 2021-04-28 2021-07-09 卡斯柯信号有限公司 一种面向智慧轨交系统的实时软总线实现方法

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CN111147334A (zh) * 2019-12-31 2020-05-12 北京信而泰科技股份有限公司 一种网络测试仪
CN111147334B (zh) * 2019-12-31 2022-04-26 北京信而泰科技股份有限公司 一种网络测试仪
WO2024032999A1 (fr) * 2022-08-08 2024-02-15 Bayerische Motoren Werke Aktiengesellschaft Système de sécurité pour un véhicule à moteur, véhicule à moteur et procédé de réalisation d'un contrôle de sécurité sur un véhicule à moteur

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Publication number Publication date
US20190145861A1 (en) 2019-05-16
EP3465132A1 (fr) 2019-04-10
EP3465132A4 (fr) 2020-01-15

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